Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Various Haptic Effects Based on Simultaneous Actuation of Motors and Brakes

모터와 브레이크의 동시구현에 기초한 다양한 햅틱효과의 제시

  • Published : 2005.07.01
Download PDF
⟨ Previous Next ⟩

Abstract

In the virtual environment, force feedback to the human operator makes virtual experiences more realistic. To ensure the safe operation and enhance the haptic feeling, stability should be guaranteed. Both motors and brakes are commonly used for haptic devices. Motors can generate a torque in any direction, but they can make the system active during operation, thus leading to instability. Brakes can generate a torque only against their rotation, but they dissipate energy during operation, which makes the system intrinsically stable. Consequently, motors and brakes are complementing each other. In this research, a two degree-of-freedom (DOF) haptic device equipped with motors and brakes has been developed to provide better haptic effects. Each DOF is actuated by a pair of motor and brake. Modeling of the environment and the control method are needed to utilize both actuators. Among various haptic effects, contact with the virtual wall, representation of friction and representation of plastic deformation have been investigated extensively in this paper. It is shown that the hybrid haptic device is more suited to some applications than the motor-based haptic device.

Keywords

References

  1. J. E. Colgate, P. E. Grafing, M. C. Stanley, and G. Schenkel, 'Implementation of stiff virtual walls in force-reflecting interfaces,' IEEE Virtual Reality Annual International Symposium, pp. 202-208, 1993 https://doi.org/10.1109/VRAIS.1993.380777
  2. C. H. Cho, M. S. Kim, and J. B. Song, 'Performance analysis of a 2-link haptic device with electric brakes,' Proc. of the IEEE Int. Symp. on Haptic Interfaces and Tele-operator Systems, Los Angeles, pp. 47-53, 2003 https://doi.org/10.1109/HAPTIC.2003.1191227
  3. J. An and D. S. Kwon, 'Hybrid experimentation on a hybrid active/passive force feedback device,' Proc. of 2002 IEEE Int. Conf. on Robotics and Automation, Washington, DC, May 2002 https://doi.org/10.1109/ROBOT.2002.1014416
  4. H. Tan, M. Srivasan, B. Eberman and B. Cheng, 'Human factors for the design of force-reflection haptic interfaces,' Proc. of ASME WAM, DSC-Vol. 55-1, ASME, NW,pp. 353-360, 1994
  5. B. Hannaford, and J. H. Ryu, 'Time-domain passivity control of haptic interfaces,' IEEE Trans. on Robotics and Automation, 2002 https://doi.org/10.1109/70.988969
  6. J. P. Kim, and J. H. Ryu, 'Energy bounding algorithm based-on passivity theorem for stable haptic interaction control,' Proc. of the IEEE Int. Symp. on Haptic Interfaces and Tele-operator Systems, 2004 https://doi.org/10.1109/HAPTIC.2004.1287220
  7. L. B. Rosenberg, and B. D. Adelstein, 'Perceptual decomposition of virtual haptic surfaces,' IEEE VR Annual International Symposium, San Jose, 1993 https://doi.org/10.1109/VRAIS.1993.378264